A fault-tolerant level damping algorithm for marine INS

DOI10.1155/2020/8847718MaRDI QIDQ2214871zbMATH OpenOpenAlexFDO

Authors Guohu Feng

Publication date 10 December 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/8847718

Mathematics Subject Classification ID

Estimation and detection in stochastic control theory (93E10) Filtering in stochastic control theory (93E11)

Review text

Summary: When the measurement error of the external reference velocity changes dramatically, the traditional level damping for marine INS needs to cut off the damping to maintain the navigation accuracy. The level channel has a large overshoot oscillation during the variable damping instantaneous, which results in obvious position deviation. In order to solve this practical problem, a damping model is established outside the INS. The most obvious advantage of the algorithm is that the damping algorithm does not affect the inertial navigation solution. The fault-tolerant algorithm realizes the automatic damping switch according to the external reference velocity error variation criterion, which avoids the velocity oscillation and position deviation. Compared with traditional methods, the algorithm presented in this paper has higher reliability and better environmental adaptability. The effectiveness of the algorithm is verified by the actual navigation test data.

Recommendations

• Marine vehicles' automatic control based on optimal damping concept
• Actuator fault-tolerant control of ocean surface vessels with input saturation
• Integrated fault estimation and fault-tolerant control for dynamic positioning of ships
• Uniform-frequency optimization in problems of the roll-and-pitch damping of moving marine objects
• An Extended Liapunov Approach to the Stability Assessment of Marine Risers
• Boundary vibration suppression for a flexible three‐dimensional marine riser against unknown sensor and actuator faults
• Robust and non-linear control of marine system
• Fault-tolerant control via integral sliding mode output feedback for unmanned marine vehicles
• scientific article; zbMATH DE number 7295675

Cites work

• A singularity-free motion control algorithm for robot manipulators -- a hybrid system approach
• Decentralized data fusion with inverse covariance intersection
• Sequential covariance intersection fusion Kalman filter

This page was built for publication: A fault-tolerant level damping algorithm for marine INS

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2214871)